Vehicle and method for controlling the same

ABSTRACT

Disclosed is a system and method for controlling a vehicle using a predetermined driving mode of a driving route. A vehicle includes an engine, a speed detector configured to detect a rotational speed of the vehicle wheel and a steering angle detector configured to detect a steering angle. The vehicle further comprises a controller configured to control driving of the engine using a predetermined driving mode. The controller obtains a cumulative driving distance based on the rotational speed, obtains a driving direction based on the detected steering angle. The controller controls operation of the engine based on the cumulative driving distance and the driving direction according to a predetermined driving mode of a driving route.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application claims the benefit of Korean Patent Application No. 10-2017-0146480, filed on Nov. 06, 2017 in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference.

BACKGROUND Field

The present disclosure relates to a vehicle capable of improving the fuel efficiency and a method for controlling the same.

Description of Related Art

A vehicle is a driving apparatus configured to move on the road by driving vehicle wheels.

Internal combustion engine vehicles (normal engine vehicle) burn petroleum fuel, e.g., gasoline and diesel to generate a mechanical power so as to drive using the mechanical power. Environment-friendly vehicles drive using the electricity to reduce the fuel consumption and hazardous gas emission.

The environment-friendly vehicles include electric vehicles that is provided with a battery corresponding a chargeable power source and a motor to rotate the motor using the electricity stored in the battery and to drive vehicle wheels by using the rotation of the motor, and hybrid vehicles and hydrogen fuel cell electric vehicles provided with an engine, a battery and a motor to drive by controlling the mechanical power of the engine and the electrical power of the motor.

The hybrid vehicle drives in the electric vehicle (EV) mode of using the power of the motor or in the hybrid electric vehicle (HEV) mode of using the power of the engine and the motor. In addition, the hybrid vehicle performs the regenerative braking, in which the battery is charged by recovering the braking energy and the inertia energy through the generation operation of the motor when braking or when casting by the inertia.

The disclosure of this section is to provide background of the invention. Applicant notes that this section may contain information available before this application. However, by providing this section, Applicant does not admit that any information contained in this section constitutes prior art.

SUMMARY

As for the battery of the hybrid vehicles, the state of charge (SOC) of the battery is variably controlled by the engine operation according to the driving state. However, the engine operation is flexible and thus it is difficult to immediately apply the driving state to the state of charge (SOC) control. Accordingly, there may be difficulties in controlling the state of charge (SOC) of the vehicle's battery.

The difficulty in the state of charge (SOC) control may be generated because the control of the battery is not flexible in the urban section, the congestion, and the traffic signal stop section having the low charging efficiency, in the medium and high speed section having the high charging efficiency, and in the ultra-high speed section having the low charging efficiency.

Accordingly, as for the battery of the hybrid vehicle, the idle charge, the entrance of the full load, and the often escape of the state of charge (SOC) normal area may occur and thus the fuel efficiency of the engine may be reduced.

Therefore, it is an aspect of the present disclosure to provide a vehicle, during a route driving mode, capable of acquiring road condition information related to a predetermined route and controlling driving of an engine based on the acquired road condition information, and a method for controlling the same.

It is another aspect of the present disclosure to provide a vehicle, during a route addition mode, capable of acquiring road condition information related to a route from a departure time to an arrival time, and acquiring and storing a driving load level for each period corresponding to the acquired road condition information for each period, and a method for controlling the same.

It is another aspect of the present disclosure to provide a vehicle, during a route driving mode and a route learning mode, capable of determining whether the vehicle deviates from the route based on a driving direction for each period, and performing a general driving mode by releasing the mode, which is currently performed, according to the result of the determination, and a method for controlling the same.

Additional aspects of the present disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present disclosure.

In accordance with one aspect of the present disclosure, a vehicle includes: an engine configured to apply a driving force to a vehicle wheel; a speed detector configured to detect a rotational speed of the vehicle wheel; a steering angle detector configured to detect a steering angle; an input device configured to receive a departure command and an arrival command; and a controller, when a route addition mode is selected, configured to acquire a cumulative distance based on a rotational speed which is detected from when a departure time in which the departure command is received until an arrival time in which the arrival command is received, configured to acquire a driving direction based on the detected steering angle, configured to store chronologically the acquired cumulative distance and driving direction, and when a route driving mode is selected, configured to control driving the engine based on the cumulative distance and driving direction that is chronologically stored.

When the route driving mode is selected, the controller checks times of route learning, and when the checked number of times of route learning is equal to or less than a predetermined number of times, the controller performs the route learning mode, and when the checked number of times of route learning exceeds the predetermined number of times, the controller performs the route driving mode.

The vehicle may further include a slope detector configured to detect a slope of a road. When the route addition mode is selected, the controller acquires a driving speed based on a rotational speed of the vehicle wheel, which is detected between the departure time and the arrival time, acquires a reference driving load level for each period based on the driving speed, which is chronologically acquired between the departure time and the arrival time, and the detected slope, and stores the reference driving load level for each period.

When the route learning mode is selected, the controller acquires a driving speed based on the detected rotational speed of the vehicle wheel, chronologically acquires a slope of road, acquires a driving load level for each period based on the acquired driving speed and the slope of road, and updates the stored reference driving load level based on the acquired driving load level for each period.

The vehicle may further include a motor; a battery configured to supply the power to the motor; a battery manger configured to manage a state of charge of the battery; and a storage configured to store a map matched with a feedback compensation factor in which a difference in a charge amount corresponds to the driving load level. The controller sets a target state of charge based on the stored reference driving load level for each period, acquires the difference in the charge amount by comparing the set target state of charge with a state of charge of the battery of the battery manger, checks a feedback compensation factor corresponding to the acquired difference in the charge amount and the stored reference driving load level for each period, from the storage, and compensates driving information of the engine based on the checked feedback compensation factor.

When the route learning mode is selected, the controller acquires a driving speed based on the detected rotational speed of the vehicle wheel, acquires a cumulative distance based on the acquired driving speed, acquires a driving direction based on the acquired steering angle, determines whether the vehicle deviates from the route based on the acquired cumulative distance, the acquired driving direction, the stored cumulative distance, and the stored driving direction, and terminates the route learning mode when it is determined that the vehicle deviates from the route.

When performing the route learning mode, the controller determines whether the acquired driving direction and the stored driving direction are identical to each other or not, and when the number of times, in which two driving directions are different, is equal to or greater than a reference number of times, the controller terminates the route learning mode.

When the route driving mode is selected, the controller acquires a driving speed based on the detected rotational speed of the vehicle wheel, acquires a cumulative distance based on the acquired driving speed, acquires a driving direction based on the acquired steering angle, determines whether the vehicle deviates from the route based on the acquired cumulative distance, the acquired driving direction, the stored cumulative distance, and the stored driving direction, and terminates the route driving mode and perform a general driving mode when it is determined that the vehicle deviates from the route.

When performing the route driving mode, the controller determines whether the acquired driving direction and the stored driving direction are identical to each other or not, and when the number of times, in which two driving directions are different, is equal to or greater than a reference number of times, the controller terminates the route driving mode.

In accordance with another aspect of the present disclosure, a vehicle includes: a plurality of vehicle wheels; an engine configured to apply a driving force to at least two vehicle wheels among the plurality of vehicle wheels; a speed detector configured to detect a rotational speed of the plurality of vehicle wheels; an input device configured to receive a departure command and an arrival command; and a controller, when a route addition mode is selected, configured to acquire a cumulative distance based on a rotational speed of a driving wheel, among a rotational speed of the plurality of vehicle wheels, which is detected from when a departure time in which the departure command is received until an arrival time in which the arrival command is received, configured to acquire a driving direction based on a rotational speed of a non-driving wheel, configured to store chronologically the acquired cumulative distance and driving direction, and when a route driving mode is selected, configured to control driving the engine based on the cumulative distance and driving direction that is chronologically stored.

The vehicle may further include a slope detector configured to detect a slope of a road. When the route addition mode is selected, the controller acquires a driving speed based on a rotational speed of the plurality of vehicle wheels, acquires a reference driving load level for each period based on the driving speed, which is chronologically acquired between the departure time and the arrival time, and the detected slope, and stores the reference driving load level for each period.

The vehicle may further include a motor; a battery configured to supply the power to the motor; a battery manger configured to manage a state of charge of the battery; and a storage configured to store a map matched with a feedback compensation factor in which a difference in a charge amount corresponds to the driving load level. The controller sets a target state of charge based on the stored reference driving load level for each period, acquires the difference in the charge amount by comparing the set target state of charge with a state of charge of the battery of the battery manger, checks a feedback compensation factor corresponding to the acquired difference in the charge amount and the stored reference driving load level for each period, from the storage, and compensates driving information of the engine based on the checked feedback compensation factor.

When a route learning mode is selected, the controller acquires a driving speed based on the detected rotational speed of the driving wheel, acquires a cumulative distance based on the acquired driving speed, acquires a driving direction based on the acquired cumulative distance, determines whether the vehicle deviates from the route based on the acquired cumulative distance, the acquired driving direction, the stored cumulative distance, and the stored driving direction, and terminates the route learning mode when it is determined that the vehicle deviates from the route.

When performing the route learning mode, the controller counts the number of times in which the acquired driving direction and the stored driving direction are different from each other, and when the counted number of times is equal to or greater than a reference number of times, the controller terminates the route learning mode.

When performing the route driving mode, the controller acquire a cumulative distance based on a rotational speed of the driving wheel, acquires a driving direction based on a rotational speed of non-driving wheel, determines whether the vehicle deviates from the route based on the acquired cumulative distance, the acquired driving direction, the stored cumulative distance, and the stored driving direction, and terminates the route driving mode and perform a general driving mode when it is determined that the vehicle deviates from the route.

The controller checks a rotational speed ratio between a rotational speed of a left wheel and a rotational speed of a right wheel among the non-driving wheels, wherein when the checked ratio is equal to or greater than a first reference ratio, the controller determines that the vehicle turns right, when the checked ratio is less than a second reference ratio, the controller determines that the vehicle turns left, and when the checked ratio is less than the first reference ration and exceeds the second reference ratio, the controller determines that the vehicle goes straight.

The vehicle may further include a display configured to display guide information about adding a route, when the route addition mode is selected.

In accordance with another aspect of the present disclosure, a method for controlling a vehicle provided with a motor configured to apply a driving force to a vehicle wheel, a battery configured to supply the power to the motor, and an engine configured to apply a driving force to the vehicle wheel, the method includes: when a route addition mode is selected, acquiring chronologically a driving speed, a driving direction and a slope of the road, which is detected from when a departure time in which a departure command is received until an arrival time in which an arrival command is received; acquiring a driving load level for each period based on the driving speed and the slope that is chronologically acquired; acquiring a cumulative distance for each period based on the driving speed, which is acquired from when the departure time in which the departure command is received until the arrival time in which the arrival command is received; storing the acquired cumulative distance for each period, the acquired driving direction for each period, and the acquired reference driving load level for each period as reference road condition information; and when a route driving mode is selected, controlling driving the engine and the motor based on the stored reference road condition information and controlling charging of the battery.

The control method may further include, when the route learning mode is selected, acquiring a cumulative distance for each period and a driving direction for each period; determining whether the vehicle deviates from a route based on the stored reference road condition information, the acquired cumulative distance for each period and the acquired driving direction for each period; and terminating the route learning mode when it is determined that the vehicle deviates from the route.

The control method may further include, when the route driving mode is selected, acquiring a cumulative distance for each period and a driving direction for each period; determining whether the vehicle deviates from a route based on the stored reference road condition information, the acquired cumulative distance for each period and the acquired driving direction for each period; and terminating the route driving mode and performing a general driving mode when it is determined that the vehicle deviates from the route.

The acquisition of the driving direction comprises detecting a steering angle of the vehicle; acquiring a straight direction when the detected steering angle is an angle in a reference steering angle range; acquiring a right turn direction when the detected steering angle is an angle in a right turn steering angle range; and acquiring a left turn direction when the detected steering angle is an angle in a left turn steering angle range.

The acquisition of the driving direction further comprises: checking a rotational speed of a left non-driving wheel among the plurality of vehicle wheels; checking a rotational speed of a right non-driving wheel; and acquiring a driving direction of the vehicle based on a ratio between the acquired rotational speed of the left wheel and the acquired rotational speed of the right wheel.

The control method may further include setting a target state of charge based on the stored reference driving load level for each period; acquiring the difference in the charge amount by comparing the set target state of charge with a state of charge of the battery of the battery manger; checking a feedback compensation factor corresponding to the acquired difference in the charge amount and the reference driving load level for each period, from a pre-stored map; and compensating driving information of the engine based on the checked feedback compensation factor.

BRIEF DESCRIPTION OF THE DRAWINGS

These and/or other aspects of the disclosure will become apparent and more readily appreciated from the following description of embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is an exemplary view illustrating an exterior of a body of a vehicle in accordance with an embodiment of the present disclosure.

FIG. 2 is an exemplary view illustrating an interior of the body of the vehicle in accordance with an embodiment of the present disclosure.

FIG. 3 is a view illustrating a chassis of the vehicle in accordance with an embodiment of the present disclosure.

FIG. 4 is a control block diagram illustrating the control of the vehicle in accordance with an embodiment of the present disclosure.

FIG. 5 is a control block diagram illustrating the battery manager 167 of FIG. 4.

FIG. 6 is a flowchart illustrating a method of adding a route to perform the eco-mode, among a method for controlling the vehicle in accordance with an embodiment of the present disclosure.

FIG. 7 is a view illustrating an example of display of eco mode of the vehicle in accordance with an embodiment of the present disclosure.

FIG. 8 is a view illustrating an example of guidance information display when a vehicle is added to a route.

FIG. 9 is a view illustrating an example of setting a driving load level when performing route addition and learning of a vehicle according to an embodiment of the present disclosure.

FIGS. 10A and 10B are flow charts illustrating a case in which the vehicle performs the route learning mode in the eco-mode in accordance with an embodiment of the present disclosure.

FIG. 11 is a diagram showing an example of display of a route that is set in advance when the vehicle performs the route learning and the route driving according to the embodiment of the present disclosure.

FIG. 12 is a graph showing cumulative distance deviations and a driving direction when the vehicle performs the route learning and the route driving according to the embodiment of the present disclosure.

FIGS. 13A and 13B are flowcharts illustrating a case in which the vehicle performs the route driving mode in accordance with an embodiment of the present disclosure.

FIG. 14 is a graph state of charge of a battery of the vehicle in accordance with an embodiment of the present disclosure.

FIG. 15 is a graph of user needs power of the vehicle in accordance with an embodiment of the present disclosure.

FIG. 16 is a control block diagram illustrating a vehicle in accordance with another embodiment of the present disclosure.

FIGS. 17A, 17B and 17C is a view illustrating an example of a rotational speed of left and right wheels corresponding to a driving direction of the vehicle in accordance with another embodiment of the present disclosure.

FIG. 18 is a graph showing cumulative distance deviations, a driving direction, a reference rotational speed of a left non-driving wheel, a current rotational speed of a left non-driving wheel, a reference rotational speed of a right non-driving wheel, and a current rotational speed of a right non-driving wheel when the vehicle performs the route learning mode according to another embodiment of the present disclosure.

DETAILED DESCRIPTION

Features of the present invention will be described more fully hereinafter with reference to the accompanying drawings, in which certain embodiments of the disclosure are shown.

An aspect of the present invention provide a system and method for controlling a hybrid vehicle using a profile of driving direction along the vehicle's driving route. A controller of the vehicle generates a driving program (driving mode) for the vehicle to drive along a driving route from a starting point to a destination. The controller determines desirable state of charge (SOC) levels of a vehicle battery for sections of the driving route. The controller determines a desirable SOC level (target SOC level) of a particular section of the driving route using a driving direction (or a profile of driving direction) of the particular section. In embodiments, the driving program is generated based on records of previous travels along the driving route (by the vehicle and/or other vehicles). While the vehicle is driving a section of the driving route using the pre-generated program, the controller monitor and controls operation of a fuel combustion engine and/or an electric motor such that SOC of the vehicle battery follows the desirable SOC levels for the current section according to the pre-generated program (FIG. 15). In embodiments, while the vehicle is driving after the pre-generated program of the driving route, the controller monitors driving direction of the vehicle (for at least one location of each section) and determines (1) whether a current road slope matches a driving direction of a corresponding section of the driving route and/or (2) whether the vehicle is still driving along the driving route. When it is determined that the vehicle is off from the driving route of the pre-generated program, the controller terminates the pre-generated program (mode), and set another desirable SOC level (a default SOC level, a SPC for general roads) different from the current desirable SOC level according to the pre-generated program.

FIG. 1 is an exemplary view illustrating an exterior of a body of a vehicle in accordance with an embodiment of the present disclosure, FIG. 2 is an exemplary view illustrating an interior of the body of the vehicle in accordance with an embodiment of the present disclosure and FIG. 3 is a view illustrating a chassis of the vehicle in accordance with an embodiment of the present disclosure.

According to an embodiment, a vehicle 100 may be a hybrid vehicle that is provided with an engine, a battery and a motor so as to drive by controlling the mechanical power of the engine and the electric power of the motor, wherein the hybrid vehicle may be a hybrid electric vehicle (HEV) or a plugin hybrid electric vehicle (PHEV).

The vehicle 100 may include a body a having an interior 110 and an exterior 120, and a chassis 140, which is the rest of the vehicle aside from the body, and in which a mechanical apparatus is installed for the driving.

As illustrated in FIG. 1, an exterior 110 of the body may include a front panel 111, a bonnet 112, a roof panel 113, a rear panel 114, a front, rear, left, and right door 115, and a window glass 116 provided in the front, rear, left, and right door 115 to be openable.

The exterior of the body may further include a pillar provided in the boundary between window glasses of the front, rear, left, and right door, a side mirror providing a view of the rear side of the vehicle 100 to a driver, and a lamp 117 allowing the driver to easily check the surroundings while focusing on the front, sending a signal to other vehicle and a pedestrian, and performing communication function with other vehicle and a pedestrian.

As illustrated in FIG. 2, the interior 120 of the body may include a seat 121 on which a passenger is seated, a dashboard 122, an instrument panel that is a cluster, 123, a center fascia 124 in which an operation panel and an outlet of the air conditioning device are installed, a head unit 125 provided in the center fascia 124 and configured to receive an operation command of the audio device and the air conditioning device, and an ignition unit 126 provided in the center fascia 124 and configured to receive an ignition command, wherein the instrument panel may be disposed on the dashboard and may include tachometer, speedometer, coolant temperature indicator, fuel indicator, turn signal indicator, high beam indicator light, warning lights, seat belt warning light, trip odometer, odometer, automatic transmission selector lever indicator, door open warning light, oil warning light, and a low fuel warning light.

The vehicle 100 may further includes a shift lever provided in the center fascia 124 to receive an input of the operation position and a parking button (electronic parking brake (EPB) button) provided around the shift lever or in the head unit 125 to receive an input of an operation command of an electric parking braking device (not shown).

The vehicle 100 may further include an input device 127 configured to receive an operation command of a variety of functions.

The input device 127 may be disposed on the head unit 125 and the center fascia 125, and may include at least one physical button such as On/Off button for the variety of functions, and a button to change a set value of the variety of functions.

The input device 127 may further include a jog dial (not shown) or a touch pad (not shown) to input a command for moving cursor and selecting cursor, wherein the cursor is displayed on a display of the user interface 129.

The jog dial or the touch pad may be provided in the center fascia.

The vehicle 100 may further include a display 128 provided in the head unit 125 and configured to display information related to a function that is currently performed in the vehicle and information input from a user.

The display 128 may display any one of an electric vehicle mode (i.e., EV mode) or a hybrid electric vehicle mode (i.e., HEV mode) that is a current driving mode of the vehicle.

The vehicle may further include the user interface 129 for the user's convenience.

The user interface 129 may display information related to the function that is currently performed and information that is input by a user.

When the user interface 129 is implemented by a touch screen in which a touch panel and a display panel are integrally formed with each other, the input function and the display function may be performed. Alternatively, when the user interface 129 is provided with only display panel, the display function may be performed.

The chassis 140 of the vehicle is a frame supporting the body 110 and 120. In the chassis 140, a vehicle wheel 141 disposed in the front, rear and left and right side, a power system 142-149 generating the torque of the vehicle, regulating the generated torque, and applying the regulated torque to the front, rear, left and right vehicle wheel 141, a steering system, a brake system and a suspension system applying the brake force to the front, rear, left and right vehicle wheel 141 may be provided.

The vehicle 100 may include a steering wheel 151 of the steering system for adjusting the direction of drive, a brake pedal 152 that is pressed by a user in accordance with the braking will of the user, and an accelerator pedal 153 that is pressed by a user in accordance with the acceleration will of the user (refer to FIG. 2).

As illustrated in FIG. 3, the power system may include an engine 142, a fuel system (not shown), a cooling device (not shown), a fuel supply device (not shown), a battery 143, a motor 144, a generator 145, an inverter 146, a clutch 147, a transmission 148, a final reduction gear and differential gear 149. In addition, the power system may further include an actuator 147 a driving the clutch 147.

The engine 142 generates the mechanical power by burning of petroleum fuels such as gasoline and diesel, and delivers the generated power to the clutch 147.

The battery 143 generates the electric power having the high voltage current and supplies the generated electric power to the motor 144, the generator 145 and a variety of electronic in the vehicle.

The battery 143 performs charging by receiving the electric power from the generator 145.

The battery 143 may be managed by a battery manager 167. The battery manager 167 will be described later.

The motor 144 may generate a torque by using the electric energy of the battery 143 and transmit the generated torque to the vehicle wheel, thereby driving the vehicle wheel.

When the motor 144 is connected to the engine 142 through the clutch 147, the motor 144 may also transmit the torque of the engine 142 to the vehicle wheel. The motor 144 may perform a torque conversion while absorbing the impact when the clutch is closed.

The motor 144 may convert the electric energy of the battery 143 into a mechanical energy to operate a variety of electronics provided in the vehicle.

The motor 144 may be performed as a generator in a regenerative braking condition by the braking, the reducing speed, or the driving at a lower speed, so that the battery 143 is charged.

The generator 145 (hereinafter referred to as Hybrid Starter Generator (HSG)) corresponds to a start generator. Since the hybrid starter generator (HSG) 145 is connected to a crankshaft of the engine 142, the hybrid starter generator (HSG) 145 may be interlocked with the crankshaft of the engine 142 and operated as a start motor when the engine 142 is started. When the vehicle wheel is not driven by the engine 142, the hybrid starter generator (HSG) 145 may be operated as a generator by the engine 142 so as to allow the battery 143 to be charged.

That is, the hybrid starter generator (HSG) 145 may be operated as a generator by the power transmitted from the engine 142 so that the battery 143 is charged.

The vehicle may be supplied with the electric power from a charger disposed in the parking lot or the charging station, and thus the vehicle may charge the battery 143 by using the supplied electric power.

The power system of the vehicle may further include a power converter (not shown) converting the electric power generated by the hybrid starter generator (HSG) 145 to an electric power capable of charging the battery 143, and converting the electric power of the battery 143 into the driving power of the hybrid starter generator (HSG) 145. The power converter may include a converter.

The power converter may change the direction and the output of the current between the hybrid starter generator (HSG) 145 and the battery 143.

The inverter 146 converts the electric power of the battery 143 into the driving power of the motor 144.

When outputting the driving power of the motor 144, the inverter 146 may output the driving power of the motor 144 based on a target vehicle speed according to user's command. The driving power of the motor 144 may be a switching signal for outputting the current corresponding to the target vehicle speed and a switching signal for outputting the voltage corresponding to the target vehicle speed.

In other words, the inverter 146 may include a plurality of switching elements.

The clutch 147 may be disposed between the engine 142 and the motor 144.

The clutch 147 may be closed or locked when generating the driving force of the vehicle wheel by using the engine 142 and the motor 144. When generating the driving force of the vehicle wheel by using the motor 144, the clutch 147 may be opened because a spring (not shown) is pushed by the hydraulic pressure generated by a Hydraulic Clutch Actuator (HCA).

That is, the clutch 147 may be an open state and a closed state according to the driving mode of the vehicle.

Particularly, the clutch 147 may be opened during the deceleration driving and the low speed driving by using the motor 144, and the clutch 147 may be opened during the braking. The clutch 147 may be closed during a climbing driving, an acceleration driving, and a constant speed driving that is faster than a predetermined speed, and during a battery protection mode.

The clutch 147 may be a normal close clutch that allows the engine 142 to be connected to the motor 144 when the power of the vehicle is turned off.

The transmission 148 may transmit the torque of the engine 142 and the motor 144 to the vehicle wheel 141 or transmit the torque of the motor 144 to the vehicle wheel 141.

The transmission 148 may be a dual clutch transmission (DCT) configured to allow a gear to be operated by using two clutches.

The transmission 148 may perform an optimal torque conversion by allowing the gear to be operated automatically, based on the driving speed of the vehicle.

The vehicle may further include the final reduction and differential gear (FD) 149 provided between the transmission 148 and the vehicle wheel 141.

The final reduction and differential gear (FD) 149 may include a final reduction gear and a differential gear.

The final reduction gear converts revolution per minute (RPM) of the motor to allow the driving speed of the vehicle to reach a target speed. That is, the final reduction gear generates the driving force corresponding to the converted RPM of the motor and transmits the generated driving force to the left and right vehicle wheel 141.

The final reduction gear may convert the input RPM of the motor to a certain rate.

The target speed may be a speed corresponding to a pressure of an accelerator pedal 153 or a brake pedal 152.

The final reduction gear may include a drive pinion and a ring gear, and reduce the rotational speed and convert the rotation direction to the right angle. That is, the final reduction gear reduces the speed between the transmission 148 and the vehicle wheel 141, again so as to increase the driving force while changing the direction of the power transmission.

The final reduction gear receives the torque of a propeller shaft 148 a by using the drive pinion and coverts the direction into an angle that is similar the right angle while reducing the torque, and transmits the torque to the differential gear. The final reduction gear transmits the changed torque of the propeller shaft to the rear axle and increases the torque through the final reduction.

The differential gear rotates the left and right vehicle wheel at a different speed.

That is, the differential gear adjusts the gear ratio of the transmission 148 and generates the driving force of the left and right vehicle wheel and transmits the generated driving force to the left and right vehicle wheel.

According to an embodiment, the power system has a parallel structure such that the engine 142 and the motor 144 are connected to the axle 149 a of the vehicle so that the engine 142 and the motor 144 simultaneously drives the vehicle.

When the vehicle drives by using the motor 144 (EV mode), the vehicle may open the clutch 147 so that the motor 144 and the engine 142 are not mechanically connected so as to directly transmit the rotation of the motor 144 to the transmission 148. In this time, the engine 142 may be a turning-off mode and when charging the battery, the engine 142 may be a turning-on mode.

When the vehicle drives by using the engine 142 and the motor 144 (HEV mode), the vehicle may close the clutch 147 so that the torque of the engine 142 is added to the torque of the motor 144 and then transmitted to the transmission 148.

When the vehicle drives by using the engine 142, the vehicle may close the clutch 147 to be rotated with the motor 144 to connect the engine 142 to the axle the engine 142.

FIG. 4 is a control block diagram illustrating the control of the vehicle in accordance with an embodiment, and FIG. 5 is a control block diagram illustrating the battery manager 167 of FIG. 4.

As illustrated in FIG. 4, the vehicle 100 may include the user interface 129, a speed detector 161, a slope detector 162, a first pressure detector 163, a second pressure detector 164, a controller 165, a storage 166, the battery manager 167, and a steering angle detector 168.

The user interface 129 receives operation information from a user and displays information related to a mode that is currently performed in the vehicle.

The user interface 129 may include an input 129 a and a display 129 b.

The input 129 a receives an operation command of an eco-mode, a route addition mode, a route learning mode, and a route driving mode and receive a departure command and an arrival command.

The input 129 a may receive a name of departure point and a name of destination.

The input receiving the variety of information may be an input provided in the head unit 125 and an input provided in the center fascia.

The display 129 b may display the eco-mode, the route addition mode, the route learning mode, the route driving mode and a general driving mode, and display guide information related to a mode that is currently performed.

When in the route learning mode and the route driving mode, the display 129 b may display a name of route, and information related to the deviation from the route

The display 129 b may display the hybrid electric vehicle (HEV) mode using only the power of the motor 144 and the electric vehicle (EV) mode using the power of the engine 142 and the power of the motor 144.

The display 129 b may display information related to the state of charge of the battery.

The display displaying a variety of information may be a display provided in the head unit 125 and a display (not shown) provided in the cluster 123.

The display may be a lamp corresponding to a light emitting diode (LED) additionally provided in the interior of the vehicle.

The speed detector 161 detects the driving speed of the vehicle.

The speed detector 161 may include a wheel speed sensor configured to detect a rotational speed provided in each of the front, rear, left and right vehicle wheel, and an acceleration detector configured to detect the acceleration of the vehicle.

The slope detector 162 detects a slope of the road.

The slope detector 162 may include at least one of an acceleration sensor, a gyro sensor, an angular velocity sensor, and a gravity sensor.

A first pressure detector 163 detects a pressure applied to the accelerator pedal 153.

A second pressure detector 164 detects a pressure applied to the brake pedal 152.

The vehicle may further include a RPM detector (not shown) detecting the RPM of the engine.

The steering angle detector 168 may detect a steering angle of the vehicle.

The steering angle detector 168 may include an angular velocity detector configured to detect an angular velocity of the steering wheel.

The steering angle detector 168 may include a yaw rate sensor configured to detect a speed (angular velocity) which is changed with respect to a vertical axis (i.e., an axis in the gravity direction) corresponding to a yaw rate of the vehicle, and a lateral acceleration sensor configured to detect a lateral acceleration of the vehicle.

The controller 165 acquires information related to the pressure of the accelerator pedal 153 or the brake pedal 152 when the accelerator pedal 153 or the brake pedal 152 is pressed by a user, acquires a user needs power based on the acquired pressure information and the speed information, which is detected by the speed detector 161, acquires a target driving speed of the vehicle corresponding to the acquired user needs power, and controls at least one operation of the engine 142 and the motor 144 based on the acquired target driving speed of the vehicle.

Accordingly, it may be possible to drive the vehicle by the power generated by at least one of the engine 142 and the motor 144.

Based on the target driving speed of the vehicle, whether to perform the acceleration driving, and whether to perform the climbing driving, the controller 165 may allow the vehicle to drive in the EV mode by using the power of the motor 144 or to drive in the HEV mode by using the power of the motor 144 and the engine 142.

The controller 165 may control the close of the clutch 147 by controlling the operation of a motor (not shown) in the actuator 147 a, and control the hydraulic pressure supplied to the clutch 147 so that the clutch 147 is opened or closed. Accordingly, the controller 165 may allow the vehicle to drive in the EV mode or HEV mode.

Hereinafter a configuration of the controller in a state in which the clutch is a normal close type clutch will be described.

When the vehicle is in the EV mode, the controller 165 may allow the clutch 147 to be opened and control the rotational speed of the motor 144 based on the target driving speed.

The controller 165 may control switching of the inverter 146 when controlling the rotational speed of the motor 144.

When the vehicle is in the HEV mode, the controller 165 may allow the clutch 147 to be closed and control the rotational speed of the engine 142 and the motor 144 based on the target driving speed.

When the vehicle is in the HEV mode, the controller 165 may control the operation of the hybrid starter generator (HSG) 145 to allow the engine 142 to be started and to control the driving of the engine.

When the vehicle is in the HEV mode, the controller 165 may perform the communication with the battery manger 167 and receive information related to a state of charge (SOC) of the battery from the battery manger 167.

The SOC of the battery may include a charge amount of the battery.

When receiving a command to select the eco-mode through the input 129 a of the user interface, the controller 165 may allow the display 129 b of the user interface to display the selection mode, and when receiving a command to select the route addition mode through the input 129 a of the user interface, the controller 165 may allow guide information related to adding a route to be output.

When receiving a departure command, the controller 165 may receive speed information of the vehicle detected by the speed detector 161 and slope information of the road detected by the slope detector 162 until the controller 165 receives an arrival command, and store the received speed information and slope information in chronological order.

The controller 165 may divide the speed information, which is chronologically stored from a departure time in which the departure command is received until an arrival time in which the arrival command is received, at a predetermined period of time and calculate an average speed based the speed information, which is divided at the predetermined period of time.

That is, the controller 165 may set the predetermined period of time as a single period, calculate the average speed for each period and store the calculated average speed for each period.

When the departure command is received, the controller 165 may chronologically store a steering angle of the vehicle based on steering angle information of the vehicle detected by the steering angle detector 168 until the arrival command is received.

When the departure command is received, the controller 165 may acquire a driving direction of the vehicle based on the steering angle of the vehicle detected by the steering angle detector 168 until the arrival command is received, and chronologically store the acquired driving direction information.

The driving direction may include a straight direction and a turning direction, wherein the turning direction may include left turn and right turn. The controller 165 may determine that a driving direction of the vehicle is a straight when the detected steering angle is an angle within a range of a reference steering angle, determine that a driving direction of the vehicle is a right turn when the detected steering angle is an angle within a range of a right turn steering angle, and determine that a driving direction of the vehicle is a left turn when the detected steering angle is an angle within a range of a left turn steering angle.

The controller 165 may calculate a cumulative distance at a predetermined period of time interval based on the speed information, which is divided at the predetermined period of time interval. That is, the controller 165 may calculate a cumulative distance for each period and store the calculated cumulative distance for each period.

The controller 165 may acquire a speed level corresponding to the average speed for each period.

The controller 165 may divide the slope information, which is chronologically stored, at a predetermined period of time interval, set the predetermined period of time as a single period and acquire the slope level corresponding to the acquired slope for each period.

The controller 165 may acquire a driving load level for each period based on the speed level for each period and the slope level for each period, and store the acquired driving load level for each period.

When receiving a command to select the route learning mode, the controller 165 may allow a route stored in the storage 166 to be displayed and when any route is selected via the input and the departure command is received, the controller 165 may perform the route learning until the arrival command is received. The controller 165 may determine whether the vehicle deviates from the route during the route learning, and when it is determined that the vehicle deviates from the route, the controller 165 may terminate the route learning.

When performing the route learning mode, the controller 165 may acquire the driving direction for each period based on the steering angle information detected by the steering angle detector 168 and acquire the driving load level for each period based on the speed information of the vehicle detected by the speed detector 161 and the slope information of the road detected by the slope detector 162. When the route learning mode is completed, the controller 165 may determine whether the acquired driving direction for each period is identical to a reference driving direction for each period stored in the storage. When it is determined to be identical to each other, the controller 165 may calculate an average value between the acquired driving load level for each period and the reference load level for each period stored in the storage, and update road condition information about a route stored in the storage, based on the calculated average value. When performing the route learning mode, the controller 165 may chronologically acquire a driving direction of the vehicle based on the steering angle information detected by the steering angle detector 168, and chronologically acquire a cumulative distance based on the speed information of the vehicle detected by the speed detector 161. When the route learning mode is completed, the controller 165 may chronologically store the acquired driving direction and the acquired cumulative distance.

When receiving a command to select the route driving mode, the controller 165 may allow a route stored in the storage 166 to be displayed and when any one route is selected through the input 129 a, the controller 165 may perform the route driving mode until the arrival command is received. During the route driving mode, the controller 165 may determine whether the vehicle deviates from the route, and when it is determined that the vehicle deviates from the route, the controller 165 may terminate the route driving mode and perform the general driving mode.

When performing the route driving mode, the controller 165 may check the current period during the vehicle drives, acquire the driving direction of the vehicle based on the detected steering angle information, and check a reference driving direction in a period corresponding to the current period. When the current driving direction and the reference driving direction are different, the controller 165 may determine that the vehicle deviates from the route.

When performing the route driving mode, the controller 165 may check a reference driving direction for each period until a period corresponding to the current period, and compare the current driving direction with the reference driving direction for each period. When a number of time in which the current driving direction for each period is different from the reference driving direction, is equal to or greater than a reference number of times, the controller 165 may determine that the vehicle deviates from the route.

When performing the route learning mode, the controller 165 may check a cumulative distance during the vehicle drives, and check the current driving direction and the reference driving direction corresponding to the checked cumulative distance. The controller 165 may determine whether the acquired driving direction is identical to the reference driving direction, and when it is determined to be different from each other, the controller 165 may count the number of times in which the current driving direction is different from the reference driving direction. When the counted number of times is equal to or greater than the reference number of times, the controller 165 may determine that the vehicle deviates from the route.

When it is determined that the current route is the same as a predetermined route during the controller 165 performs the route driving mode, the controller 165 may check the speed detected by the speed detector, receive the state of charge of the battery from the battery manager 167, check a RPM of the engine detected by the RPM detector, and acquire a user needs power based on the current speed and the pressure detected by the first and second pressure detector.

The controller 165 may check information related to turning on and off of the engine corresponding to the current state of charge and the speed, from a first map stored in the storage, and check a target output torque of the engine corresponding the user needs torque and the RPM of the engine, from the first map stored in the storage.

When performing the route driving mode, the controller 165 may acquire the reference driving load level for each period from the storage 166, set a target state of charge based on the acquired reference driving load level for each period, and check a charge amount difference between the set target state of charge and the current state of charge.

The controller 165 may check a feedback compensation factor corresponding to the charge amount difference and the reference driving load level from a third map stored in the storage, compensate turning on and off of the engine and the target output torque of the engine based on the checked feedback compensation factor, and perform the feedback control the drive of the engine based on driving information of the engine, which is compensated.

In addition, when performing the general driving mode, the controller 165 may check information related to turning on and off of the engine corresponding to the current state of charge and the speed, from the first map stored in the storage, check the target output torque of the engine corresponding to the user needs torque and the RPM of the engine, from the first map stored in the storage, and perform the feedback control the drive of the engine based on the checked driving information of the engine.

When the route driving mode is input and any one route is selected, the controller 165 may check the number of times of route learning about the selected route, and when the number of times of the route learning is equal to or less than a predetermined number of times, the controller 165 may perform the route leaning mode or when the number of times of the route learning exceeds the predetermined number of times, the controller 165 may perform the route driving mode.

The controller 165 may perform the route driving mode while performing the route learning mode.

When the route learning mode is selected through the input, the controller 165 may perform the route learning about a route that is selected by a user, and when the route driving mode is selected through the input, the controller 165 may perform the route driving mode regardless of the number of times of the route learning.

When the clutch 147 is in a closed state, the engine 142 may transmit the generated power to the vehicle wheel 141 and the hybrid starter generator (HSG) 145.

The hybrid starter generator (HSG) 145 may start the engine based on the control command of the controller 165 or perform as a generator by the power of engine so as to charge the battery.

According to the control command of the controller 165, the inverter 146 may convert the direct current (DC) power, which is supplied from the battery, into three-phase alternating-current (AC) power and apply the AC power to the motor 144.

The hydraulic clutch actuator (HCA) 147 a may deliver oil to the clutch by the drive of the motor (not shown) provided therein, so as to generate a hydraulic pressure in the clutch 147. A spring (not shown) in the clutch may be pushed by the hydraulic pressure generated in the clutch 147, so that the clutch 147 is opened.

The controller 165 may be implemented using a memory (not shown) storing an algorithm for controlling an operation of components in the vehicle and data related to programs implementing the algorithm, and a processor (not shown) performing the above mentioned operation using the data stored in the memory. The memory and the processor may be implemented in separate chips, or a single chip.

The controller 165 may include a first controller(i.e., engine control unit (ECU)) configured to control an operation of the hybrid starter generator (HSG) 145 and the engine 142, a second controller(i.e., motor control unit (MCU)) configured to allow the regenerative braking to be performed when braking and reducing the speed, and to rotate the motor 144 by controlling the operation of the inverter 146, based on a control signal of a main controller, a third controller (i.e., local control unit (LCU)) configured to allow the clutch 147 to be the opened or closed by controlling the operation of the hydraulic clutch actuator (HCA) 147 a, and the main controller (i.e., HEV control unit (HCU)) configured to distribute a torque to the engine and the motor based on the target speed of the vehicle, and to output a control signal to the first, second, and third controller based on the distributed torque.

The first, second, and third controller and the main controller may be implemented by a separate chip or alternatively, the first, second, and third controller and the main controller may be packaged and integrated, thereby being implemented by a single chip.

The controller 165 may be an electronic control unit (ECU) controlling the driving of the vehicle or the controller 165 may be any one of a microcomputer, a central processing unit (CPU), and a processor.

The storage 166 may store the first map matched with information, which is related to turning on and off of the engine corresponding to the state of charge of the battery and the driving speed of the vehicle.

The storage 166 may store the second map matched with the target output torque of the engine corresponding to the user needs torque and the RPM of the engine.

The storage 166 may store the third map matched with the feedback compensation factor corresponding to the charge amount difference and the driving load level. The feedback compensation factor may be a value between 0 (zero) to 1 (one).

The storage 166 may store reference road condition information about a predetermined route.

The road condition information may include the reference driving load level for each period, the driving direction for each period, and the reference cumulative distance for each period.

In addition, the road condition information may further include the speed level for each period and the slope level for each period.

The storage 166 may store a reference steering angle range corresponding to the straight, a right turn steering angle range corresponding to the right turn, and a left turn steering angle range corresponding to the left turn.

The storage 166 may store a reference number of times to determine whether the vehicle deviates from the route.

The storage 166 may be a memory that is implemented by a chip separate from the above mentioned processor related to the controller 165, or the storage 166 may be implemented by a single chip with a processor.

The storage 166 may be implemented using at least one of a non-volatile memory element, e.g., a cache, a Read Only Memory (ROM), a Programmable ROM (PROM), an Erasable Programmable ROM (EPROM), an Electrically Erasable Programmable ROM (EEPROM) and a flash memory, a volatile memory element, e.g., a Random Access Memory (RAM), or a storage medium, e.g., a Hard Disk Drive (HDD) and a CD-ROM. The implementation of the storage is not limited thereto.

As illustrated in FIG. 5, the battery manager 167 may include a voltage detector 167 a, a current detector 167 b, a temperature detector 167 c, a manager 167 d and a communicator 167 e.

The voltage detector 167 a may detect the voltage of the battery 143. The voltage detector 167 a may detect the voltage of an output terminal of the battery 143.

The current detector 167 b may detect the current of the battery 143.

The temperature detector 167 c may detect the temperature of the battery 143.

The voltage detector 167 a, the current detector 167 b, and the temperature detector 167 c may detect the voltage, the current and the temperature of each cell in the battery.

The manager 167 d may acquire the charge amount of the battery based on the detected current and voltage of the battery, compensate the acquired charge amount of the battery based on the detected temperature of the battery, and output the compensated charge amount of the battery as the information related to the state of charge of the battery, to the controller 165.

The manager 167 d may manage the state of charge (SOC) based on the current, the voltage and the temperature of each cell of the battery, and determine the target state of charge based on the state of charge of the battery and the temperature of the battery, thereby allowing the output of the motor to be variable.

In addition, the manager 167 d may prevent the battery from shorting the life of the battery caused by the overcharge and the over-discharge.

The communicator 167 e may communicate with the controller 165 and transmit the information related to the state of charge of the battery to the controller 165.

The communicator 167 e may include one or more components configured to allow the communication with an external device, wherein the communicator may include at least one of a short range communication module, a wired communication module, and a wireless communication module.

The short-range communication module may include a variety of short range communication modules, which is configured to transmit and receive a signal using a wireless communication module in the short range, e.g., Bluetooth module, Infrared communication module, Radio Frequency Identification (RFID) communication module, Wireless Local Access Network (WLAN) communication module, NFC communications module, and ZigBee communication module.

The wired communication module may include a variety of wired communication module, e.g., Controller Area Network (CAN) communication module, Local Area Network (LAN) module, Wide Area Network (WAN) module, or Value Added Network (VAN) module and a variety of cable communication module, e.g., Universal Serial Bus (USB), High Definition Multimedia Interface (HDMI), Digital Visual Interface (DVI), recommended standard232 (RS-232), or plain old telephone service (POTS).

The wireless communication module may include a wireless communication module supporting a variety of wireless communication methods, e.g., Radio Data System-Traffic Message Channel (RDS-TMC), Digital Multimedia Broadcasting (DMB), Wifi module, Wireless broadband module, global System for Mobile (GSM) Communication, Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Time Division Multiple Access (TDMA), and Long Term Evolution (LTE).

FIG. 6 is a flowchart illustrating a method of adding a route to perform the eco-mode, among a method for controlling the vehicle in accordance with an embodiment.

When the eco-mode is selected (201), the vehicle may display the selection mode that is selectable by a user, on the display 129 b of the user interface (202).

The selection of the eco-mode may include selecting a button of the input provided in the head unit, selecting a button of the input provided in the center fascia, or touching a button displayed on the user interface.

The selection mode may display the route addition mode for adding a new route, and at least predetermined route. The selection mode may include the route driving mode in which the operation of the motor, the battery and the engine is controlled by using the target state of charge (SOC) of the battery and the driving information of the engine corresponding to pre-stored road condition information, when the vehicle drives according to a route selected by a user.

The selection mode may further include the route learning mode for repeatedly learning the road condition for each period about a route selected by a user among the at least one predetermined route. The route learning mode may be performed wherever the route learning mode is selected by a user.

When the route driving mode is selected, the route driving mode may be performed at the same time with the route learning mode. When the number of times of the route learning is equal to or less than the predetermined number of times, the route learning mode may be automatically performed and when the number of times of the route learning exceeds the predetermined number of times, the route learning mode of the selected route may be not performed.

As illustrated in FIG. 7, on the display 129 b of the user interface, the vehicle may display the route addition, the route driving and the route learning, as the selection mode that is selectable by a user.

The selection mode may be displayed on the display of the cluster or the display of the head unit.

When the route addition mode displayed on the display of the user interface is selected (203), the vehicle may output guide information for adding the route corresponding to a route addition command (204).

For example, the display of the user interface may display a route number, and a content indicating of pushing a button upon the departure and arrival.

As illustrated in FIG. 8, the display 129 b of the user interface may display a content indicating of entering a departure place and pushing a departure button upon the departure, and a content indicating of pushing an arrival button upon the arrival and entering a destination.

The departure button and the arrival button may correspond to the input provided in the head unit, the input of the user interface and the input provided in the center fascia.

The departure button and the arrival button may be a single button. The vehicle may recognize the departure command when a user pushes the single button once, and recognize the arrival command when the user pushes the single button, again.

Before the departure, the vehicle may receive the name of the departure point and the name of the destination, or after the arrival, the vehicle may receive the name of the departure point and the name of the destination.

The vehicle may receive the name of the departure point and the name of the destination via the input of the user interface and the input provided in the center fascia.

The vehicle may output the guide information for adding the route as a sound via a speaker (not shown).

The vehicle may drive by regulating the speed based on the pressure information of the accelerator pedal and the pressure information of the brake pedal, which are detected through the first and second pressure detector.

When the vehicle receives the departure command since the departure button is selected by a user during driving or before driving (205), the vehicle may receive the speed information detected by the speed detector and the slope information detected by the slope detector from when the departure command is received, and chronologically store the received speed information and slope information at a predetermined period of time interval (206).

The predetermined period of time may represent a period of time for monitoring a variety of condition of the road that is needed for the learning while the vehicle drives.

That is, the vehicle may acquire the road condition information for each period, e.g., speed information corresponding to the traffic jam and the traffic lights and slope of the road information in the road in the selected route, and store the acquired road information for each period.

Acquiring and storing road condition information for each period may include acquiring a driving speed of the vehicle, a cumulative distance, a driving direction of the vehicle, and a slope level of road, and storing the acquired cumulative distance, the acquired driving direction, and the acquired slope level of road.

The vehicle may calculate an average speed at the predetermined period of time interval based on the speed information that is chronologically stored, and store the calculated average speed at the predetermined period of time interval. That is, the vehicle may calculate the average speed for each period and store the calculated average speed for each period (207).

The vehicle may acquire the speed level corresponding to the average speed for each period, and store the speed level for each period. The speed level may be divided into a plurality of levels according to average speed ranges.

For example, the vehicle may store an average speed of 0-20 km/h as a speed level 0, an average speed of 21-40 km/h as a speed level 1, an average speed of 41-60 km/h as a speed level 2, an average speed of 61-80 km/h as a speed level 3, an average speed of 81-100 m/h as a speed level 4, an average speed of 101-120 km/h as a speed level 5, and an average speed 121 km/h or more as a speed level 6.

The vehicle may chronologically store the slope information of the road and store the slope information as a slope level for each period that is divided according to a slope range.

For example, the vehicle may store a gradient of flatland as a slope level 0 (zero), a rising gradient of 5˜15 degree as a slope level 1, a rising gradient of 16˜25 degree as a slope level 2, a rising gradient of 26˜35 degree as a slope level 3, a rising gradient of 36 degree or more as a slope level 4, a falling gradient of 5-15 degree as a slope level −1, a falling gradient of 16-25 degree as a slope level −2, a falling gradient of 26-35 degree as a slope level −3, and a falling gradient of 36 degree or as a slope level −4.

The speed range of the speed level and the gradient range of the slope level are merely examples, and thus these may be changed according to the specifications of the vehicle, e.g., the type, the weight and the size.

As illustrated in FIG. 9, the vehicle may acquire the driving load level for each period based on the slope level for each period and the speed level for each period and store the acquired driving load level for each period (208).

The vehicle may acquire a driving direction for each period based on the steering angle information that is chronologically stored and store the acquired driving direction (209).

The vehicle may acquire the cumulative distance for each period based on the speed information that is chronologically stored, and store the acquired cumulative distance for each period

In addition, the vehicle may store a driving direction for each cumulative distance.

When the vehicle receives the arrival command (210) since a user selects the arrival button, the vehicle may terminate the route learning (211) and store information for each period, which is stored during the route learning, as reference road condition information about an added route.

That is, the vehicle may store the driving load level for each period, the driving direction for each period, and the cumulative distance for each period, which are acquired during driving, as the reference road condition information, which is needed to control the vehicle for the route driving mode.

Particularly, the vehicle may store the driving direction for each period as the reference driving direction for each period, the cumulative distance for each period as the reference cumulative distance for each period the driving load level for each period as the reference driving load level for each period.

When the eco-mode is not selected, the vehicle may perform the general driving mode (212). A detail description of the general driving mode will be described later.

FIGS. 10A and 10B are flow charts illustrating a case in which the vehicle performs the route learning mode in the eco-mode in accordance with an embodiment, and a description thereof will be described with reference to FIGS. 11 to 13.

According to an embodiment, it is assumed that the route learning mode is excluded in the selection mode selectable by a user and the route learning mode is automatically performed when the route driving mode is selected.

When the eco-mode is selected (221), the vehicle may allow the display of the user interface to display the selection mode selectable by a user (222).

That is, the vehicle may display the route addition mode and the route driving mode on the display of the user interface.

When the route driving command corresponding to the selection of the route driving mode (223) is received, the vehicle may display a predetermined route (224).

As illustrated in FIG. 11, when a plurality of predetermined routes is provided, the vehicle may display information related to the plurality of predetermined routes on the display 129 b of the user interface.

For example, the display 129 b of the user interface may display a departure point and a destination of route 1 and a departure point and a destination of route 2.

When the vehicle receives information related to a route since any one route is selected among the predetermined routes (225), the vehicle may check the number of times of route learning of the selected route (226) and determine whether the checked number of times of route learning of the selected route is a predetermined number of times.

When the checked number of times of route learning of the selected route is equal to or less than the predetermined number of times (227), the vehicle may check the road condition information about the selected route, which is stored in the storage (228).

The road condition information about the selected route may include the reference driving direction for each period the reference driving load level for each period and the reference cumulative distance for each period.

The vehicle may determine whether to drive (229) based on the pressure information of the accelerator pedal and the pressure information of the brake pedal, which is detected via the first and second pressure detector, and the operation of the shift lever.

When the driving is started, the vehicle may output information related to the performance of the route learning, on the display of the user interface.

When the driving is started, the vehicle may chronologically store the speed information detected via the speed detector, the slope information of the road detected by the slope detector, and the steering angle information detected by the steering angle detector at a predetermined period of time interval, and perform the route learning based on the stored information (230).

The predetermined period of time may represent a period of time for monitoring a variety of condition of the road that is needed for the learning during the vehicle drives.

The performance of the route learning may include acquiring the current driving direction, the current speed level, the current slope level, and the current cumulative distance based on the speed information, the slope information and the steering angle information that is chronologically stored, and storing the acquired current driving direction, the acquired current speed level, the acquired current slope level, and the acquired current cumulative distance.

Particularly, the vehicle may calculate the current average speed at the predetermined period of time interval, based on the speed information that is chronologically stored, and store the calculated current average speed at a predetermined period of time. That is, the vehicle may calculate the current average speed for each period and store the calculated average speed for each period.

The vehicle may acquire the current speed level for each period corresponding to the current average speed, and store the current speed level for each period. The vehicle may chronologically store the slope information of the road and store the current slope level for each period, which is classified by the gradient range.

The vehicle may acquire the current driving load level for each period based on the current slope level for each period, and the current speed level for each period, and store the acquired current driving load level for each period.

The vehicle may acquire the driving direction for each period based on the steering angle information that is chronologically stored, and store the acquired current driving direction for each period.

The vehicle may acquire the current cumulative distance for each period based on the speed information that is chronologically stored, and store the acquired current cumulative distance for each period.

The vehicle may a driving direction for each cumulative distance.

The above mentioned vehicle may store the road condition information, which is acquired for each period, while determining whether a route in which the vehicle currently drives is the same as a predetermined route, for each period.

The determination of whether the current driving route is the same as the predetermined route, may include comparing the road condition information of the predetermined route with the road condition information of the current driving route, for each period and determining whether the current driving route is the same as the predetermined route based on the result of the comparison.

Particularly, the vehicle may determine a current period (period n) based on a period of time elapsed from a departure time, and check a current cumulative distance until the current period. The vehicle may check a current driving direction corresponding to the steering angle information detected by the steering angle detector (231).

The vehicle may check a reference cumulative distance until the period n (current period) in the road condition information stored in the storage, and check a reference driving direction corresponding to the reference cumulative distance (232).

The vehicle may determine whether the reference driving direction is identical to the current driving direction (233).

When it is determined that the reference driving direction is different from the current driving direction, the vehicle may count the number of times in which the current driving direction is different from the reference driving direction (234), and determine whether the counted number is equal to or greater than the reference number of times (235).

As illustrated in FIG. 12, the vehicle may acquire a driving direction based on a cumulative distance. In addition, the vehicle may acquire a cumulative distance. for each period.

In FIG. 12, a graph (a) illustrates a reference cumulative distance, a graph (b) illustrates a current cumulative distance, a graph (c) illustrates a steering angle corresponding to the reference driving direction, and a graph (d) illustrates a steering angle corresponding to the current driving direction.

The vehicle may store a reference driving direction (straight) in a first cumulative distance, a reference driving direction (right turn) in a second cumulative distance, a reference driving direction (straight) in a third cumulative distance, a reference driving direction (left turn) in a fourth cumulative distance, and a reference driving direction (straight) in a fifth cumulative distance.

During the vehicle drives, the vehicle may check the current cumulative distance and the current driving direction, and check the reference cumulative distance and reference driving direction corresponding to the checked current cumulative distance.

That is, when the current cumulative distance becomes the first reference cumulative distance, the vehicle may check a reference driving direction in the first reference cumulative distance, and compare the checked reference driving direction with the current driving direction. When it is determined that the reference driving direction is a straight and the current driving direction is a straight, the vehicle may determine that two driving directions are identical to each other, and maintain the route learning.

When the current cumulative distance becomes the second reference cumulative distance during the route learning, the vehicle may check a reference driving direction in the second reference cumulative distance, and compare the checked reference driving direction with the current driving direction. When it is determined that the reference driving direction is the right turn and the current driving direction is the right turn in the second reference cumulative distance, the vehicle may determine that two driving directions are identical to each other, and maintain the route learning.

When the current cumulative distance becomes the third reference cumulative distance during the route learning, the vehicle may check a reference driving direction in the third reference cumulative distance, and compare the checked reference driving direction with the current driving direction. When it is determined that the reference driving direction is the straight and the current driving direction is the right turn in the third reference cumulative distance, the vehicle may determine that two driving directions are different from each other. The number of times in which two driving directions are different from each other is counted as one (1), and the vehicle may compare the counted number of times with the reference number of times. When it is determined that the counted number of times is less than the reference number of times, the vehicle may maintain the route learning.

When the current cumulative distance becomes the fourth reference cumulative distance during the route learning, the vehicle may check a reference driving direction in the fourth reference cumulative distance, and compare the checked reference driving direction with the current driving direction. When it is determined that the reference driving direction is the left turn and the current driving direction is the straight in the fourth reference cumulative distance, the vehicle may determine that two driving directions are different from each other. The number of times in which two driving directions are different from each other is counted as two (2). When it is determined that the counted number of times is equal to or greater than the reference number of times, the vehicle may determine that the vehicle deviates from the route.

The vehicle may compare the counted number of times with the reference number of times, and when it is determined that the counted number of times is equal to or greater than the reference number of times (235), the vehicle may terminate the route learning mode (236). When it is determined that the counted number of times is less than the reference number of times, the vehicle may determine whether the arrival command is received (237).

That is, while driving until the arrival command is received, the vehicle may acquire the road condition information for each period, and perform the route learning based on the acquired road condition information for each period.

When it is determined that the arrival command is received, the vehicle may update the reference road condition information stored in the storage, based on the current road condition information (238), and store the updated road condition information as new reference road condition information.

Particularly, for each period, the vehicle may calculate a driving load level average value between the reference driving load level and the current driving load level, and store the calculated driving load level average value for each period as a new reference driving load level.

For each period, the vehicle may store the reference cumulative distance and the reference driving direction for each reference cumulative distance.

When storing the reference cumulative distance for each period, the vehicle may calculate a cumulative distance average value between the reference cumulative distance and the current cumulative distance for each period, and store the acquired new reference cumulative distance as a new reference cumulative distance, based on the calculated cumulative distance average value for each period.

When the eco-mode is not selected, the vehicle may perform the general driving mode (239). A configuration of the general driving mode will be described later.

In addition, when the number of times of the route learning of the selected route exceeds a predetermined number of times, the vehicle may perform the route driving mode (240).

A configuration of the performance of the route driving mode will be described with reference to FIGS. 13A and 13B.

FIGS. 13A and 13B are flowcharts illustrating a case in which the vehicle performs the route driving mode in accordance with an embodiment, and a description thereof will be described with reference to FIGS. 11 and 12 and FIGS. 14 and 15.

When the eco-mode is selected, the vehicle may allow the display of the user interface to display the selection mode selectable by a user.

That is, the vehicle may allow the display of the user interface to display the route addition mode and the route driving mode.

When the route driving command corresponding to the selection of the route driving mode (251) is received, the vehicle may display a predetermined route (252).

As illustrated in FIG. 11, when a plurality of predetermined routes is provided, the vehicle may display information related to the plurality of predetermined routes on the display 129 b of the user interface.

For example, the display 129 b of the user interface may display the departure point and the destination of route 1 and the departure point and the destination of route 2.

When the vehicle receives information related to a route, since any one route is selected among the predetermined routes (252), the vehicle may check the road condition information stored in the storage corresponding to the selected route (253).

The road condition information about the selected route may include the reference driving direction for each period, the reference driving load level for each period and the reference cumulative distance for each period.

The vehicle may determine whether to drive (254) based on the pressure information of the accelerator pedal and the pressure information of the brake pedal, which is detected via the first and second pressure detector, and the operation of the shift lever.

When the driving is started, the vehicle may output information related to the route driving mode via the display of the user interface.

For example, the vehicle may display the name of the selected route or the departure point and the destination, on the display of the user interface.

When the driving is started, the vehicle may check a period corresponding to the passage of the driving time, and check speed information detected by the speed detector.

Checking the user needs power may include acquiring a pressure applied to the accelerator pedal based on the pressure information detected by the first pressure detector, acquiring a pressure applied to the brake pedal based on the pressure information detected by the second pressure detector, acquiring a current driving speed corresponding to the speed information detected by the speed detector, acquiring user needs power based on the acquired pressure of the accelerator pedal, the acquired pressure of the brake pedal, and the acquired current driving speed, and checking the acquired user needs power.

While driving, the vehicle may determine whether the vehicle deviates from the selected route, which is selected by a user, based on the current cumulative distance for each period and the current driving direction for each period.

Particularly, while driving, the vehicle may acquire a cumulative distance until the current period (period n) based on the detected speed information, and acquire a current driving direction based on the steering angle information detected by the steering angle detector. The vehicle may check the acquired cumulative distance and the acquired current driving direction.

The vehicle may check a reference driving direction for each reference cumulative distance stored in the storage (255).

That is, the vehicle may check the reference cumulative distance until the period n stored in the storage, and a reference driving direction corresponding to the reference cumulative distance until the period n, and check a current cumulative distance and a current driving direction until the current period (period n). The vehicle may determine whether the reference driving direction is identical to the current driving direction (256), and when it is determined that the reference driving direction is different from the current driving direction, the vehicle may count the number of time in which two driving direction are different, (257). The vehicle may determine whether the counted number of times is equal to or greater than the reference number of times (258). As illustrated in FIG. 12, when the current cumulative distance is the first reference cumulative distance, the vehicle may check the current driving direction and the reference driving direction in the first reference cumulative distance.

When it is determined that the reference driving direction is the straight and the current driving direction is the straight in the first reference cumulative distance, the vehicle may determine that two driving directions are identical to each other, and maintain the route driving while checking a cumulative distance upon the driving.

When the checked cumulative distance is the second reference cumulative distance, the vehicle may check a reference driving direction and a current driving direction in the second reference cumulative distance. When it is determined that the reference driving direction is the right turn and the current driving direction is the right turn, the vehicle may determine that two driving directions are identical to each other, and maintain the route driving while checking a cumulative distance upon the driving.

When the checked cumulative distance is the third reference cumulative distance, the vehicle may check a reference driving direction and a current driving direction in the third reference cumulative distance. When it is determined that the reference driving direction is the straight and the current driving direction is the right turn, the vehicle may determine that two driving directions are different from each other. The vehicle may count the number of time in which two driving direction are different.

The vehicle may determine whether the counted number of times is equal to greater than the reference number of times, and when it is determined that the counted number of times is less than the reference number of times, the vehicle may maintain the route driving mode while checking a cumulative distance upon the driving on the route.

When the checked cumulative distance is the fourth reference cumulative distance, the vehicle may check a reference driving direction and a current driving direction in the fourth reference cumulative distance. When it is determined that the reference driving direction is the left turn and the current driving direction is the straight, the vehicle may determine that two driving directions are different from each other. The vehicle may count the number of time in which two driving direction are different.

The vehicle may determine whether the counted number of times is equal to greater than the reference number of times, and when it is determined that the counted number of times is equal to greater than the reference number of times, the vehicle may terminate the route driving mode.

As mentioned above, when it is determined that the counted number of times is less than the reference number of times, the vehicle may perform the route driving mode until the arrival command is received.

When it is determined that the counted number of times is equal to or greater than the reference number of times, the vehicle may terminate the route driving mode (259) and perform the general driving mode.

The performance of the general driving mode may include checking a current state of charge of the battery, checking a driving speed, acquiring information related to turning on and off of the engine corresponding to the state of charge of the battery and the driving speed of the vehicle, from the first map stored in the storage, and controlling the engine based on the acquired information related to turning on and off of the engine.

When turning on the engine, the vehicle may check the user needs power, check a current RPM of the engine, acquire a target output torque of the engine corresponding to the user needs power and the RPM of the engine, from the second map stored in the storage, and control the rotation of the engine based on the acquired target output torque of the engine.

When it is determined that the counted number is equal to or less than the third threshold value, the vehicle may determine that the route selected by the user is the same as the predetermined route, and maintain the route driving mode until the arrival command is received.

Hereinafter a case in which the route driving mode is performed when it is assumed that the route selected by the user is the same as the predetermined route, will be described.

During the route driving mode, the vehicle may set a target state of charge and acquire the current state of charge and the user needs power (260).

A description thereof will be described in details.

As illustrated in FIG. 14, the vehicle may check the driving load level for each period until period Tn stored in the storage, and set a target state of charge (SOC) based on the checked driving load level for each period. In this case, as the driving load level is increased, the target state of charge may be set to be higher.

This is in order to increase a period of time in which the vehicle drives in the EV mode by more reducing the target state of charge in a section having a lower driving load level, e.g., a traffic jam section and a traffic signal section. In addition, this is in order to increase the charge amount of the battery by the driving of the engine by more increasing the target state of charge of the battery in a section having a higher level.

The vehicle may acquire the current state of charge (SOC) of the battery.

Acquiring the state of charge of the battery may include an operation in which the battery manager of the vehicle detects the voltage, the current, and the temperature of the battery, calculates a charge amount of the battery based on the detected voltage and current, compensates the calculated charge amount of the battery based on the detected temperature, and acquires the compensated charge amount of the battery.

The vehicle may acquires a user needs power.

As illustrated in FIG. 15, the user needs power may vary according to the road condition information, i.e., the driving load level.

Acquiring the user needs power may include acquiring a pressure applied to the accelerator pedal based on the pressure information detected by the first pressure detector, acquiring a pressure applied to the brake pedal based on the pressure information detected by the second pressure detector, acquiring a current driving speed corresponding to the speed information detected by the speed detector, acquiring the user needs power based on the acquired pressure of the accelerator pedal, the acquired pressure of the brake pedal, and the acquired current driving speed, and acquiring the acquired user needs power.

The vehicle may calculate a difference between the current state of charge (SOC) and the target state of charge (SOC).

Calculating the difference between the current state of charge (SOC) and the target state of charge (SOC) may include calculating an amount of charge difference between the current charge amount of the battery and the target charge amount of the battery.

The vehicle may check the driving load level of the current period, and check a feedback compensation factor corresponding to the difference in the amount of charge of the current period and the driving load level from the third map stored in the storage (261).

The vehicle may acquire information related to turning on and off of the engine corresponding to the current state of charge of the battery and the driving speed from the first map stored in the storage, compensate the acquired information related to turning on and off of the engine based on the feedback compensation factor, and determine whether to turn on or off the engine based on the result of the compensation.

When turning on the engine, the vehicle may check the user needs power, check the current RPM of the engine, acquire the output torque of the engine corresponding to the user needs power and the RPM of the engine from the second map stored in the storage, compensate the acquired target output torque of the engine based on the feedback compensation factor, and perform the feedback control on the rotation of the engine based on the compensated target output torque of the engine (262).

This will be described with an example.

It is assumed that the user needs torque and the RPM of the engine of the current period is the same as in the next period. In addition, it is assumed that the driving load level of the current period (e.g., period 1) is two, the driving load level of the next period (e.g., period 2) is three, the driving load level of the period after next period (e.g., period 3) is one, and the difference in the charge of amount between the current state of charge and the target state of charge is the same.

In the current period (e.g., period 1), the vehicle may maintain the target output torque of the engine corresponding to the user needs power and the RPM of the engine. In the next period (e.g., period 2), the vehicle may increase the target output torque corresponding to the user needs power and the RPM of the engine based on the feedback compensation factor and control the rotation of the engine based on the increased target output torque. In the period after next period (e.g., period 3), the vehicle may reduce the target output torque corresponding to the user needs power and the RPM of the engine based on the feedback compensation factor, and control the rotation of the engine based on the reduced target output torque.

That is, the vehicle may increase the charge amount of the battery by increasing the target state of charge of the battery and the target output torque of the engine in the section having the high driving load level. The vehicle may increase the utilization of the motor and the battery by reducing the target charge amount of the battery in the section having the low driving load level. Accordingly, it is possible to minimize the turning on of the engine or the target output torque of the engine so that the fuel efficiency is improved.

The vehicle may drive the engine at an proper timing by estimating the road conditions based on the road condition information that is pre-stored, and the vehicle may variably control the engine at the optimized RPM when driving the engine, thereby more increasing the target state of charge of the battery in the section in which the charge efficiency is dominant.

In a state in which the vehicle drives in the route driving mode, when it is estimated that the vehicle needs to slow down ahead, the vehicle may inform of a user a point of time when the pressure of the accelerator pedal is released, or information related to the climbing and descending, in advance, on the display of the user interface.

Accordingly, it may be possible to improve the fuel efficiency by reducing the sudden braking performed by a user and by increasing the coasting time. In addition, when the uphill road is estimated, the vehicle may charge the battery in advance to maximize the utilization of the motor.

When the arrival command is received (263), the vehicle may terminate the route driving mode.

Determining that the arrival command is received may include determining whether the arrival button is selected and determining whether the ignition is turned off.

FIG. 16 is a control block diagram illustrating a vehicle in accordance with another embodiment, and according to another embodiment, a vehicle 100 may include a user interface 129, a speed detector 161, a slope detector 162, a first pressure detector 163, a second pressure detector 164, a controller 169, a storage 166, and a battery manager 167.

The user interface 129, the slope detector 162, the first pressure detector 163, the second pressure detector 164, and the battery manager 167 according to another embodiment may be the same as the user interface 129, the slope detector 162, the first pressure detector 163, the second pressure detector 164, and the battery manager 167 according to an embodiment, and thus a description thereof will be omitted.

The speed detector 161 of the vehicle 100 may include a first speed detector 161 a configured to detect a rotational speed of a left front vehicle wheel, a second speed detector 161 b configured to detect a rotational speed of a right front vehicle wheel, a third speed detector 161 c configured to detect a rotational speed of a left rear vehicle wheel, and a fourth speed detector 161 d configured to detect a rotational speed of a right rear vehicle wheel.

The controller 169 acquires a user needs power and acquires a target driving speed of the vehicle corresponding to the acquired user needs power, and controls at least one operation of the engine 142 and the motor 144 based on the acquired target driving speed of the vehicle. A description thereof is the same as the description according to an embodiment and thus the detail description thereof will be omitted.

Based on the target driving speed of the vehicle, whether to perform the acceleration driving, and whether to perform the climbing driving, the controller 169 may allow the vehicle to drive in the EV mode by using the power of the motor 144 or to drive in the HEV mode by using the power of the motor 144 and the engine 142. A description thereof is the same as the description according to an embodiment and thus the detail description thereof will be omitted.

When receiving a command to select the eco-mode through the input 129 a of the user interface, the controller 169 may allow the display 129 b of the user interface to display the selection mode, and when receiving a command to select the route addition mode through the input 129 a of the user interface, the controller 169 may allow guide information related to adding a route to be output.

When receiving a departure command, the controller 169 may receive speed information of the vehicle detected by a speed detector provided in a driving wheel in the speed detector 161, and slope information of the road detected by the slope detector 162 until the controller 169 receives an arrival command, and store the received speed information and slope information in chronological order.

The controller 169 may divide the speed information, which is chronologically stored from a departure time in which the departure command is received until an arrival time in which the arrival command is received, at a predetermined period of time interval, and calculate an average speed based the speed information, which is divided at the predetermined period of time interval.

The driving wheel represents a vehicle wheel configured to be supplied with the power from the engine 142 or the motor 144, and generates a moving force necessary for driving the vehicle using the supplied power.

The driving wheel may be either a front wheel or a rear wheel, and a non-driving wheel may be a wheel other than a driving wheel. For example, when the left and right front wheels are driving wheels, the right and left rear wheels may be non-driving wheels. When the left and right rear wheels are driving wheels, the left and right front wheels may be non-driving wheels.

When receiving the departure command, the controller 169 may acquire a driving direction of the vehicle based on the speed information detected by a speed detector provided in a non-driving wheel, until the controller 169 receives the arrival command, and store the acquired steering angle information in chronological order.

The driving direction includes a straight direction and a turning direction, wherein the turning direction includes left turn and right turn.

The controller 169 may check a rotational speed of a left non-driving wheel (Lrpm) and a rotational speed of a right non-driving wheel (Rrpm), and when the rotational speed of the left non-driving wheel (Lrpm) is greater than the rotational speed of a right non-driving wheel (Rrpm), by a predetermined magnitude, the controller 169 may determine it as the right turn. When the rotational speed of the right non-driving wheel (Rrpm) is greater than the rotational speed of the left non-driving wheel (Lrpm), by a predetermined magnitude, the controller 169 may determine it as the left turn.

The controller 169 may determine a driving direction based on the rotational speeds of the left and right driving wheels. However, it is appropriate to determine the driving direction based on the rotational speed of the non-driving wheel in consideration of the fact that slip occurs in the driving wheel.

The controller 169 may check the rotational speed of the left non-driving wheel (Lrpm) and the rotational speed of the right non-driving wheel (Rrpm), and check a ratio of the rotational speed of the left and right non-driving wheel (C=Lrpm/Rrpm). When the checked ratio is equal to greater than a first reference ratio, the controller 169 may determine it as the right turn, and when the checked ratio is less than a second reference ratio, the controller 169 may determine it as the left turn. In addition, when the checked ratio is less than the first reference ratio and exceeds the second reference ratio, the controller 169 may determine it as the straight.

That is, when the checked ratio is between the first reference ratio and the second reference ratio, the controller 169 may determine it as the straight.

As illustrated in FIG. 17A, when the vehicle goes straight, a rotational speed of left and right non-driving wheel is the same, wherein a ratio of a rotational speed of right non-driving wheel is approximately 1 with respect to a rotational speed of left non-driving wheel.

As illustrated in FIG. 17B, when the vehicle turns right, the rotational speed of left non-driving wheel is greater than the rotational speed of right non-driving wheel, wherein a ratio of the rotational speed of right non-driving wheel is greater than the first reference ratio with respect to a rotational speed of left non-driving wheel.

The first reference ratio may be a value obtained by adding a certain error to 1.

As illustrated in FIG. 17C, when the vehicle turns left, the rotational speed of left non-driving wheel is less than the rotational speed of right non-driving wheel, wherein a ratio of the rotational speed of right non-driving wheel is less than the second reference ratio with respect to the rotational speed of left non-driving wheel.

The second reference ratio may be a value obtained by subtracting a certain error from 1.

The controller 169 may calculate a cumulative distance at a predetermined period of time interval based on the speed information, which is divided at the predetermined period of time interval. That is, the controller 169 may calculate a cumulative distance for each period and store the calculated cumulative distance for each period.

The controller 169 may acquire a speed level corresponding to the average speed for each period.

The controller 169 may divide the slope information, which is chronologically stored, at a predetermined period of time interval, set the predetermined period of time as a single period and acquire the slope level corresponding to the acquired slope for each period.

The controller 169 may acquire a driving load level for each period based on the speed level for each period and the slope level for each period, and store the acquired driving load level for each period.

When receiving a command to select the route learning mode, the controller 169 may allow a route stored in the storage 166 to be displayed and when any route is selected via the input and the departure command is received, the controller 169 may perform a route learning until the arrival command is received. The controller 169 may determine whether the vehicle deviates from the route during the route learning, and when it is determined that the vehicle deviates from the route, the controller 169 may terminate the route learning.

When performing the route learning mode, the controller 169 may acquire the driving direction for each period based on the speed information of the vehicle detected by the speed detector 161 provided in the non-driving wheel and acquire the driving load level for each period based on the speed information of the vehicle detected by the speed detector 161 provided in the driving wheel and the slope information of the road detected by the slope detector 162.

When the route learning mode is completed, the controller 169 may determine whether the acquired driving direction for each period is identical to a reference driving direction for each period stored in the storage. When it is determined to be identical to each other, the controller 169 may calculate an average value between the acquired driving load level for each period and the reference driving load level for each period stored in the storage, and update road condition information about a route stored in the storage, based on the calculated average value.

When performing the route learning mode, the controller 169 may acquire a driving direction of the vehicle for each period based on the speed information of the vehicle detected by the speed detector 161 provided in the non-driving wheel, and chronologically acquire a cumulative distance based on the speed information of the vehicle detected by the speed detector 161 provided in the driving wheel. When the route learning mode is completed, the controller 165 may chronologically store the acquired driving direction and cumulative distance.

As illustrated in FIG. 18, the vehicle may store a driving direction for each cumulative distance when performing the route learning mode.

A graph (a11) illustrates a reference rotational speed of a left non-driving wheel (i.e., left vehicle wheel), a graph (a12) illustrates a current rotational speed of a left non-driving wheel (i.e., left vehicle wheel), a graph (b11) illustrates a reference rotational speed of a right non-driving wheel (i.e., right vehicle wheel), and a graph (b22) illustrates a current rotational speed of a right non-driving wheel (i.e., right vehicle wheel).

The controller 169 may acquire a reference driving direction based on the reference rotational speed of the left wheel and the reference rotational speed of the right wheel, and store the acquired reference driving direction.

The controller 169 may acquire a current driving direction based on the current rotational speed of the left wheel and the current rotational speed of the right wheel, and compare the acquired current driving direction with the reference driving direction.

For example, when a current cumulative distance is the first reference cumulative distance (T1), the controller 169 may check a reference driving direction and a current driving direction in the first reference cumulative distance (T1). When the reference driving is the straight and the reference driving is the straight in the first reference cumulative distance, the vehicle may determine that two driving directions are the same and maintain the route driving while checking a cumulative distance upon the driving.

When a current cumulative distance is the second reference cumulative distance (T2), the controller 169 may check a reference driving direction and a current driving direction in the second reference cumulative distance (T2). When the reference driving is the right turn and the reference driving is the right turn in the second reference cumulative distance, the vehicle may determine that two driving directions are the same and maintain the route driving while checking a cumulative distance upon the driving.

As mentioned above, when performing the route learning mode, the controller 169 may check a cumulative distance during the vehicle drives, and check the current driving direction and the reference driving direction corresponding to the checked cumulative distance. The controller 169 may determine whether the acquired driving direction is identical to the reference driving direction, and when it is determined to be different from each other, the controller 169 may count the number of time in which the current driving direction is different from the reference driving direction. When the counted number of times is equal to or greater than the reference number of times, the controller 169 may determine that the vehicle deviates from the route.

When receiving a command to select the route driving mode, the controller 169 may allow a route stored in the storage 166 to be displayed and when any one route is selected through the input 129 a, the controller 169 may perform the route driving mode until the arrival command is received. During the route driving mode, the controller 169 may determine whether the vehicle deviates from the route, and when it is determined that the vehicle deviates from the route, the controller 169 may terminate the route driving mode and perform the general driving mode.

When performing the route driving mode, the controller 169 may check a current period during the driving, and acquire a driving direction based on the speed information of the non-driving wheel. The controller 169 may check a reference driving direction in a period corresponding to the current period, and when the current driving direction is different from the reference driving direction, the controller 169 may determine that the vehicle deviates from the route.

When performing the route driving mode, the controller 169 may check a reference driving direction for each period in a period corresponding to the current period, and compare the current driving direction for each period with the reference driving direction. When it is determined that the number of times, in which the current driving direction for each period is different from the reference driving direction, is equal to or greater than the reference number of times, the controller 169 may determine that the vehicle deviates from the route.

When it is determined that the current route is the same as a predetermined route during the controller 169 performs the route driving mode, the controller 169 may check the speed detected by the speed detector, receive the state of charge of the battery from the battery manager 167, check a RPM of the engine detected by the RPM detector, and acquire a user needs power based on the current speed and the pressure detected by the first and second pressure detector.

The controller 169 may check information related to turning on and off of the engine corresponding to the current state of charge and the speed, from a first map stored in the storage, and check a target output torque of the engine corresponding the user needs torque and the RPM of the engine, from the first map stored in the storage.

When performing the route driving mode, the controller 169 may acquire the reference driving load level for each period from the storage 166, set a target state of charge based on the acquired reference driving load level for each period, and check a charge amount difference between the set target state of charge and the current state of charge.

The controller 169 may check a feedback compensation factor corresponding to the charge amount difference and the reference driving load level from a third map stored in the storage, compensate turning on and off of the engine and the target output torque of the engine based on the checked feedback compensation factor, and perform the feedback control the drive of the engine based on driving information of the engine, which is compensated.

In addition, when performing the general driving mode, the controller 169 may check information related to turning on and off of the engine corresponding to the current state of charge and the speed, from the first map stored in the storage, check the target output torque of the engine corresponding to the user needs torque and the RPM of the engine, from the first map stored in the storage, and perform the feedback control the drive of the engine based on the checked driving information of the engine.

When the route driving mode is input and any one route is selected, the controller 169 may check the number of times of route learning about the selected route, and when the number of times of the route learning is equal to or less than a predetermined number of times, the controller 169 may perform the route leaning mode or when the number of times of the route learning exceeds the predetermined number of times, the controller 169 may perform the route driving mode.

The controller 169 may perform the route driving mode while performing the route learning mode.

When the route learning mode is selected through the input, the controller 169 may perform the route learning about a route that is selected by a user, and when the route driving mode is selected through the input, the controller 165 may perform the route driving mode regardless of the number of times of the route learning.

The controller 169 may be implemented using a memory (not shown) storing an algorithm for controlling an operation of components in the vehicle and data related to programs implementing the algorithm, and a processor (not shown) performing the above mentioned operation using the data stored in the memory. The memory and the processor may be implemented in separate chips, or a single chip.

The controller 169 may include a first controller(i.e., engine control unit (ECU)) configured to control an operation of the hybrid starter generator (HSG) 145 and the engine 142, a second controller(i.e., motor control unit (MCU)) configured to allow the regenerative braking to be performed when braking and reducing the speed, and to rotate the motor 144 by controlling the operation of the inverter 146, based on a control signal of a main controller, a third controller (i.e., local control unit (LCU)) configured to allow the clutch 147 to be the opened or closed by controlling the operation of the hydraulic clutch actuator (HCA) 147 a, and the main controller (i.e., HEV control unit (HCU)) configured to distribute a torque to the engine and the motor based on the target speed of the vehicle, and to output a control signal to the first, second, and third controller based on the distributed torque.

The first, second, and third controller and the main controller may be implemented by a separate chip or alternatively, the first, second, and third controller and the main controller may be packaged and integrated, thereby being implemented by a single chip.

The controller 169 may be an electronic control unit (ECU) controlling the driving of the vehicle or the controller 165 may be any one of a microcomputer, a central processing unit (CPU), and a processor.

The storage 166 may store the first map matched with information, which is related to turning on and off of the engine corresponding to the state of charge of the battery and the driving speed of the vehicle.

The storage 166 may store the second map matched with the target output torque of the engine corresponding to the user needs torque and the RPM of the engine.

The storage 166 may store the third map matched with the feedback compensation factor corresponding to the charge amount difference and the driving load level. The feedback compensation factor may be a value between 0 (zero) to 1 (one).

The storage 166 may store reference road condition information about a predetermined route.

The road condition information may include the reference driving load level for each period, and the reference cumulative distance for each period.

In addition, the road condition information may further include the speed level for each period and the slope level for each period.

The storage 166 may store a first reference ratio, and a second reference ratio.

The storage 166 may be a memory that is implemented by a chip separate from the above mentioned processor related to the controller 169, or the storage 166 may be implemented by a single chip with a processor.

The storage 166 may be implemented using at least one of a non-volatile memory element, e.g., a cache, a Read Only Memory (ROM), a Programmable ROM (PROM), an Erasable Programmable ROM (EPROM), an Electrically Erasable Programmable ROM (EEPROM) and a flash memory, a volatile memory element, e.g., a Random Access Memory (RAM), or a storage medium, e.g., a Hard Disk Drive (HDD) and a CD-ROM. The implementation of the storage is not limited thereto.

A control flow of the route learning mode and the route driving mode of the vehicle according to another embodiment, is the same as the control flow thereof according to an embodiment except for the method for acquiring the driving direction of the vehicle, and thus a description thereof has been omitted.

According to an embodiment, the driving direction of the vehicle is acquired based on the steering angle information detected by the steering angle detector, but according to another embodiment, the driving direction of the vehicle is acquired based on the speed information detected by the speed detector provided in the non-driving wheel.

As is apparent from the above description, it may be possible to learn conditions of the road, which is contained in the route, based on the driving speed and the slope in at least one of the route, and the vehicle may selectively drive the motor and the engine according to the result of the learning so that the improvement of the fuel efficiency is maximized and the emission is minimized.

Since the fuel efficiency is improved, it may be possible to improve the commercial value of hybrid electric vehicles (HEV) and plug-in hybrid electric vehicles (PHEV) which are driven by the motor, and further it may be possible to increase the user experience and secure the competitiveness.

It may be possible to covert the state of charge of battery into the low state in the urban area in which the vehicle performs stop-go driving in heavy traffic, and thus it may be possible to improve the fuel efficiency by reducing the power consumption for charging the battery.

Logical blocks, modules or units described in connection with embodiments disclosed herein can be implemented or performed by a computing device having at least one processor, at least one memory and at least one communication interface. The elements of a method, process, or algorithm described in connection with embodiments disclosed herein can be embodied directly in hardware, in a software module executed by at least one processor, or in a combination of the two. Computer-executable instructions for implementing a method, process, or algorithm described in connection with embodiments disclosed herein can be stored in a non-transitory computer readable storage medium.

Although a few embodiments of the present disclosure have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the disclosure, the scope of which is defined in the claims and their equivalents. 

What is claimed is:
 1. A vehicle comprising: an engine configured to apply a driving force to a vehicle wheel; a speed detector configured to detect a rotational speed of the vehicle wheel; a steering angle detector configured to detect a steering angle; an input device configured to receive a departure command and an arrival command; and a controller, when a route addition mode is selected, configured to acquire a cumulative distance based on a rotational speed which is detected from when a departure time in which the departure command is received until an arrival time in which the arrival command is received, configured to acquire a driving direction based on the detected steering angle, configured to store chronologically the acquired cumulative distance and driving direction, and when a route driving mode is selected, configured to control driving the engine based on the cumulative distance and driving direction that is chronologically stored.
 2. The vehicle of claim 1, wherein when the route driving mode is selected, the controller checks times of route learning, and when the checked number of times of route learning is equal to or less than a predetermined number of times, the controller performs the route learning mode, and when the checked number of times of route learning exceeds the predetermined number of times, the controller performs the route driving mode.
 3. The vehicle of claim 1, further comprising: a slope detector configured to detect a slope of a road; wherein when the route addition mode is selected, the controller acquires a driving speed based on a rotational speed of the vehicle wheel, which is detected between the departure time and the arrival time, acquires a reference driving load level for each period based on the driving speed, which is chronologically acquired between the departure time and the arrival time, and the detected slope, and stores the reference driving load level for each period.
 4. The vehicle of claim 3, wherein when the route learning mode is selected, the controller acquires a driving speed based on the detected rotational speed of the vehicle wheel, chronologically acquires a slope of road, acquires a driving load level for each period based on the acquired driving speed and the slope of road, and updates the stored reference driving load level based on the acquired driving load level for each period.
 5. The vehicle of claim 3, further comprising: a motor; a battery configured to supply the power to the motor; a battery manger configured to manage a state of charge of the battery; and a storage configured to store a map matched with a feedback compensation factor in which a difference in a charge amount corresponds to the driving load level, wherein the controller sets a target state of charge based on the stored reference driving load level for each period, acquires the difference in the charge amount by comparing the set target state of charge with a state of charge of the battery of the battery manger, checks a feedback compensation factor corresponding to the acquired difference in the charge amount and the stored reference driving load level for each period, from the storage, and compensates driving information of the engine based on the checked feedback compensation factor.
 6. The vehicle of claim 1, wherein when the route learning mode is selected, the controller acquires a driving speed based on the detected rotational speed of the vehicle wheel, acquires a cumulative distance based on the acquired driving speed, acquires a driving direction based on the acquired steering angle, determines whether the vehicle deviates from the route based on the acquired cumulative distance, the acquired driving direction, the stored cumulative distance, and the stored driving direction, and terminates the route learning mode when it is determined that the vehicle deviates from the route. wherein, when performing the route learning mode, the controller determines whether the acquired driving direction and the stored driving direction are identical to each other or not, and when the number of times, in which two driving directions are different, is equal to or greater than a reference number of times, the controller terminates the route learning mode.
 7. The vehicle of claim 1, wherein when the route driving mode is selected, the controller acquires a driving speed based on the detected rotational speed of the vehicle wheel, acquires a cumulative distance based on the acquired driving speed, acquires a driving direction based on the acquired steering angle, determines whether the vehicle deviates from the route based on the acquired cumulative distance, the acquired driving direction, the stored cumulative distance, and the stored driving direction, and terminates the route driving mode and perform a general driving mode when it is determined that the vehicle deviates from the route, wherein when performing the route driving mode, the controller determines whether the acquired driving direction and the stored driving direction are identical to each other or not, and when the number of times, in which two driving directions are different, is equal to or greater than a reference number of times, the controller terminates the route driving mode.
 8. A vehicle comprising: a plurality of vehicle wheels; an engine configured to apply a driving force to at least two vehicle wheels among the plurality of vehicle wheels ; a speed detector configured to detect a rotational speed of the plurality of vehicle wheels; an input device configured to receive a departure command and an arrival command; and a controller, when a route addition mode is selected, configured to acquire a cumulative distance based on a rotational speed of a driving wheel, among a rotational speed of the plurality of vehicle wheels, which is detected from when a departure time in which the departure command is received until an arrival time in which the arrival command is received, configured to acquire a driving direction based on a rotational speed of a non-driving wheel, configured to store chronologically the acquired cumulative distance and driving direction, and when a route driving mode is selected, configured to control driving the engine based on the cumulative distance and driving direction that is chronologically stored.
 9. The vehicle of claim 8, further comprising: a slope detector configured to detect a slope of a road; wherein when the route addition mode is selected, the controller acquires a driving speed based on a rotational speed of the plurality of vehicle wheels, acquires a reference driving load level for each period based on the driving speed, which is chronologically acquired between the departure time and the arrival time, and the detected slope, and stores the reference driving load level for each period.
 10. The vehicle of claim 9, further comprising: a motor; a battery configured to supply the power to the motor; a battery manger configured to manage a state of charge of the battery; and a storage configured to store a map matched with a feedback compensation factor in which a difference in a charge amount corresponds to the driving load level, wherein the controller sets a target state of charge based on the stored reference driving load level for each period, acquires the difference in the charge amount by comparing the set target state of charge with a state of charge of the battery of the battery manger, checks a feedback compensation factor corresponding to the acquired difference in the charge amount and the stored reference driving load level for each period, from the storage, and compensates driving information of the engine based on the checked feedback compensation factor.
 11. The vehicle of claim 8, wherein when a route learning mode is selected, the controller acquires a driving speed based on the detected rotational speed of the driving wheel, acquires a cumulative distance based on the acquired driving speed, acquires a driving direction based on the acquired cumulative distance, determines whether the vehicle deviates from the route based on the acquired cumulative distance, the acquired driving direction, the stored cumulative distance, and the stored driving direction, and terminates the route learning mode when it is determined that the vehicle deviates from the route, wherein when performing the route learning mode, the controller counts the number of times in which the acquired driving direction and the stored driving direction are different from each other, and when the counted number of times is equal to or greater than a reference number of times, the controller terminates the route learning mode.
 12. The vehicle of claim 8, wherein when performing the route driving mode, the controller acquire a cumulative distance based on a rotational speed of the driving wheel, acquires a driving direction based on a rotational speed of non-driving wheel, determines whether the vehicle deviates from the route based on the acquired cumulative distance, the acquired driving direction, the stored cumulative distance, and the stored driving direction, and terminates the route driving mode and perform a general driving mode when it is determined that the vehicle deviates from the route.
 13. The vehicle of claim 8, wherein the controller checks a rotational speed ratio between a rotational speed of a left wheel and a rotational speed of a right wheel among the non-driving wheels, wherein when the checked ratio is equal to or greater than a first reference ratio, the controller determines that the vehicle turns right, when the checked ratio is less than a second reference ratio, the controller determines that the vehicle turns left, and when the checked ratio is less than the first reference ration and exceeds the second reference ratio, the controller determines that the vehicle goes straight.
 14. The vehicle of claim 8, further comprising: a display configured to display guide information about adding a route, when the route addition mode is selected.
 15. A method for controlling a vehicle provided with a motor configured to apply a driving force to a vehicle wheel, a battery configured to supply the power to the motor, and an engine configured to apply a driving force to the vehicle wheel, the method comprising: when a route addition mode is selected, acquiring chronologically a driving speed, a driving direction and a slope of the road, which is detected from when a departure time in which a departure command is received until an arrival time in which an arrival command is received; acquiring a driving load level for each period based on the driving speed and the slope that is chronologically acquired; acquiring a cumulative distance for each period based on the driving speed, which is acquired from when the departure time in which the departure command is received until the arrival time in which the arrival command is received; storing the acquired cumulative distance for each period, the acquired driving direction for each period, and the acquired reference driving load level for each period as reference road condition information; and when a route driving mode is selected, controlling driving the engine and the motor based on the stored reference road condition information and controlling charging of the battery.
 16. The method of claim 15, further comprising: when the route learning mode is selected, acquiring a cumulative distance for each period and a driving direction for each period; determining whether the vehicle deviates from a route based on the stored reference road condition information, the acquired cumulative distance for each period and the acquired driving direction for each period; and terminating the route learning mode when it is determined that the vehicle deviates from the route.
 17. The method of claim 15, further comprising: when the route driving mode is selected, acquiring a cumulative distance for each period and a driving direction for each period; determining whether the vehicle deviates from a route based on the stored reference road condition information, the acquired cumulative distance for each period and the acquired driving direction for each period; and terminating the route driving mode and performing a general driving mode when it is determined that the vehicle deviates from the route.
 18. The method of claim 17, wherein the acquisition of the driving direction comprises detecting a steering angle of the vehicle; acquiring a straight direction when the detected steering angle is an angle in a reference steering angle range; acquiring a right turn direction when the detected steering angle is an angle in a right turn steering angle range; and acquiring a left turn direction when the detected steering angle is an angle in a left turn steering angle range.
 19. The method of claim 17, wherein the acquisition of the driving direction further comprises checking a rotational speed of a left non-driving wheel among the plurality of vehicle wheels; checking a rotational speed of a right non-driving wheel; and acquiring a driving direction of the vehicle based on a ratio between the acquired rotational speed of the left wheel and the acquired rotational speed of the right wheel.
 20. The method of claim 15, further comprising: setting a target state of charge based on the stored reference driving load level for each period; acquiring the difference in the charge amount by comparing the set target state of charge with a state of charge of the battery of the battery manger; checking a feedback compensation factor corresponding to the acquired difference in the charge amount and the reference driving load level for each period, from a pre-stored map; and compensating driving information of the engine based on the checked feedback compensation factor. 